1.43.99

Repetier/Constants.h

@@ -20,7 +20,7 @@
 #define CONSTANTS_H
 
 
-#define REPETIER_VERSION                    "1.43.98"
+#define REPETIER_VERSION                    "1.43.99"
 #define UI_PRINTER_COMPANY                  "Conrad Community"
 #define UI_VERSION_STRING                   "V " REPETIER_VERSION
 

Repetier/HAL.cpp

@@ -832,7 +832,7 @@ ISR(TIMER1_COMPA_vect)
 #if FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
     if (PrintLine::cur == NULL && PrintLine::direct.task == TASK_NO_TASK)
     {
-        PrintLine::stepSlowedZCompensation();
+        PrintLine::stepSlowedZCompensation(); // Z is free here.
         // Wait if the z-CMP is under heavy workload
         if (PrintLine::needCmpWait())
         {

Repetier/Printer.cpp

@@ -116,7 +116,6 @@ volatile long   Printer::staticCompensationZ = 0;
 #endif // FEATURE_WORK_PART_Z_COMPENSATION
 
 volatile long   Printer::currentSteps[3] = { 0, 0, 0 };
-volatile char   Printer::stepperDirection[3] = { 0, 0, 0 };
 volatile char   Printer::blockAll = 0;
 
 volatile long   Printer::currentXSteps = 0;  //das ist der X-Zähler der GCodes zum Zählen des tiefsten Schalterdruckpunkts /Schaltercrash.
@@ -436,6 +435,20 @@ inline bool isExtrusionAllowed(float e) {
     return true;
 }
 
+bool Printer::isZMoveActive() {
+    if (PrintLine::direct.stepsRemaining && PrintLine::direct.isZMove()) {
+        return true;
+    }
+    if (PrintLine::cur == NULL) {
+        return false;
+    }
+    if (PrintLine::cur->isZMove()) {
+        return true;
+    }
+
+    return false;
+}
+
 /**
 * Set the printers feedrate according to active unit settings
 */

Repetier/Printer.h

@@ -140,7 +140,6 @@ class Printer
 #endif // FEATURE_WORK_PART_Z_COMPENSATION
 
     static volatile long    currentSteps[3];
-    static volatile char    stepperDirection[3];              // this is the current x/y/z-direction from the processing of G-Codes
     static volatile char    blockAll;
 
     static volatile long    currentXSteps;
@@ -466,7 +465,6 @@ class Printer
 #if FEATURE_TWO_XSTEPPER
             WRITE(X2_DIR_PIN, !INVERT_X_DIR);
 #endif // FEATURE_TWO_XSTEPPER
-            stepperDirection[X_AXIS] = 1;
         }
         else
         {
@@ -475,7 +473,6 @@ class Printer
 #if FEATURE_TWO_XSTEPPER
             WRITE(X2_DIR_PIN, INVERT_X_DIR);
 #endif // FEATURE_TWO_XSTEPPER
-            stepperDirection[X_AXIS] = -1;
         }
     } // setXDirection
 
@@ -488,7 +485,6 @@ class Printer
 #if FEATURE_TWO_YSTEPPER
             WRITE(Y2_DIR_PIN, !INVERT_Y_DIR);
 #endif // FEATURE_TWO_YSTEPPER
-            stepperDirection[Y_AXIS] = 1;
         }
         else
         {
@@ -497,7 +493,6 @@ class Printer
 #if FEATURE_TWO_YSTEPPER
             WRITE(Y2_DIR_PIN, INVERT_Y_DIR);
 #endif // FEATURE_TWO_YSTEPPER
-            stepperDirection[Y_AXIS] = -1;
         }
     } // setYDirection
 
@@ -513,7 +508,6 @@ class Printer
 #if FEATURE_CONFIGURABLE_Z_ENDSTOPS
             lastZDirection = 1;
 #endif // FEATURE_CONFIGURABLE_Z_ENDSTOPS
-            stepperDirection[Z_AXIS] = 1;
         }
         else
         {
@@ -525,7 +519,6 @@ class Printer
 #if FEATURE_CONFIGURABLE_Z_ENDSTOPS
             lastZDirection = -1;
 #endif // FEATURE_CONFIGURABLE_Z_ENDSTOPS
-            stepperDirection[Z_AXIS] = -1;
         }
     } // setZDirection
 
@@ -1097,6 +1090,7 @@ class Printer
     static void updateDerivedParameter();
     static void switchEverythingOff();
     static void updateAdvanceActivated();
+    static bool isZMoveActive();
 
     static INLINE void setXAxisSteps(int32_t x) {
         InterruptProtectedBlock noInts;

Repetier/RF.cpp

@@ -5325,7 +5325,6 @@ void moveZ(int nSteps)
 
         g_nZScanZPosition += (Printer::getZDirectionIsPos() ? 1 : -1);
     }
-    Printer::stepperDirection[Z_AXIS] = 0; //stepper immer freigeben. moveZ läuft nie parallel zu anderen Z-Bewegungen!
 } // moveZ
 
 
@@ -6447,7 +6446,7 @@ void handleStrainGaugeFeatures(millis_t uTime) {
                 g_nEmergencyESkip = true;
 
                 // Block if we are driving Z rightnow
-                if (Printer::stepperDirection[Z_AXIS] && !Extruder::current->stepperDirection)
+                if (Printer::isZMoveActive() && !Extruder::current->stepperDirection)
                 {
                     // the pressure is outside the allowed range, we must perform the emergency stop
                     doEmergencyStop(STOP_BECAUSE_OF_Z_BLOCK);

Repetier/RF.h

@@ -443,9 +443,6 @@ The following variables are used for movements in x/y/z direction:
   - holds the position which has been reached through the movements from the queue
   - the value of currentSteps represents the current position of the printer in x, y and z direction
 
-- Printer::stepperDirection[x/y/z]
-  - holds the direction of the axes as it is requested by the currently processed movement from the queue
-
 - Printer::directDestinationSteps[x/y/z]
   - unit is [steps]
   - holds the position which shall be reached through direct movements, e.g. from the manual buttons or from the direct pause/continue functionality

Repetier/motion.cpp

@@ -1040,7 +1040,7 @@ void PrintLine::stepSlowedZCompensation() {
     if (Printer::blockAll) {
         return;
     }
-
+    
     // We do not want the zCMP to have a total axis dependand constant speed. 
     // Constant jerky speedup and speeddowns sound awfull and we suspect that to cause the z-lift problematic.
 
@@ -1056,19 +1056,21 @@ void PrintLine::stepSlowedZCompensation() {
         waitSteps--;
         return;
     }
-
+    
     int32_t cmpDiff = Printer::compensatedPositionTargetStepsZ - Printer::compensatedPositionCurrentStepsZ;
 
     if (cmpDiff > 0)
     {
         // here we shall move the z-axis only in case performQueueMove() is not moving into the other direction at the moment
-        if (!Printer::stepperDirection[Z_AXIS])
+        bool posZ = Printer::getZDirectionIsPos();
+        if (!posZ)
         {
+            posZ = true;
             // set the direction only in case it is not set already
-            Printer::setZDirection(true);
+            Printer::setZDirection(posZ);
         }
         // we must move the heat bed do the bottom
-        if (Printer::getZDirectionIsPos())
+        if (posZ)
         {
             Printer::startZStep();
 #if STEPPER_HIGH_DELAY>0
@@ -1090,13 +1092,15 @@ void PrintLine::stepSlowedZCompensation() {
     if (cmpDiff < 0)
     {
         // here we shall move the z-axis only in case performQueueMove() is not moving into the other direction at the moment
-        if (!Printer::stepperDirection[Z_AXIS])
+        bool posZ = Printer::getZDirectionIsPos();
+        if (posZ)
         {
+            posZ = false;
             // set the direction only in case it is not set already
-            Printer::setZDirection(false);
+            Printer::setZDirection(posZ);
         }
         // we must move the heat bed to the top
-        if (!Printer::getZDirectionIsPos())
+        if (!posZ)
         {
             Printer::startZStep();
 #if STEPPER_HIGH_DELAY>0
@@ -1673,7 +1677,7 @@ long PrintLine::performMove(PrintLine* move, uint8_t forQueue)
         }
 #if FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
         else if (move->isXOrYMove()) {
-            PrintLine::stepSlowedZCompensation();
+            PrintLine::stepSlowedZCompensation(); // Z is free here. This is no Z-Move
         }
 #endif // FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
 
@@ -1767,12 +1771,9 @@ long PrintLine::performMove(PrintLine* move, uint8_t forQueue)
 
     if (move->stepsRemaining <= 0 || move->isNoMove())  // line finished
     {
-        if (move->stepsRemaining <= 0) { //Wenn keine Steps mehr da, sollten alle Achsen die benutzt wurden wieder freigegeben werden. Bei Z ist der Sonderfall, dass die Z-Kompensation sich reinschummeln könnte.
-            move->setXYMoveFinished();
-            move->setZMoveFinished(); // Wichtig, das die Z-Kompensation wieder weiterarbeiten kann, auch wichtig bei PrintLine::direct!
+        //Wenn keine Steps mehr da, sollten alle Achsen die benutzt wurden wieder freigegeben werden. Bei Z ist der Sonderfall, dass die Z-Kompensation sich reinschummeln könnte.
+        move->setXYZEMoveFinished();  // Wichtig, das die Z-Kompensation wieder weiterarbeiten kann, auch wichtig bei PrintLine::direct!
                                       // Auch wenn kein Z-Move, könnte die Z-Kompensation die Achse Z benutzt haben.
-            move->setEMoveFinished();
-        }
 
         if (forQueue) {
             removeCurrentLineForbidInterrupt();

Repetier/motion.h

@@ -201,19 +201,16 @@ class PrintLine
     inline void setXMoveFinished()
     {
         dir &= ~16;
-        Printer::stepperDirection[X_AXIS] = 0;
     } // setXMoveFinished
 
     inline void setYMoveFinished()
     {
         dir &= ~32;
-        Printer::stepperDirection[Y_AXIS] = 0;
     } // setYMoveFinished
 
     inline void setZMoveFinished()
     {
         dir &= ~64;
-        Printer::stepperDirection[Z_AXIS] = 0;
     } // setZMoveFinished
 
     inline void setEMoveFinished()
@@ -225,8 +222,12 @@ class PrintLine
     inline void setXYMoveFinished()
     {
         dir &= ~48;
-        Printer::stepperDirection[Y_AXIS] = 0;
-        Printer::stepperDirection[X_AXIS] = 0;
+    } // setXYMoveFinished
+
+    inline void setXYZEMoveFinished()
+    {
+        dir &= ~240;
+        Extruder::current->stepperDirection = 0;
     } // setXYMoveFinished
 
     inline bool isXPositiveMove()
@@ -317,7 +318,6 @@ class PrintLine
     inline void setMoveOfAxisFinished(uint8_t axis)
     {
         dir &= ~(16 << axis);
-        Printer::stepperDirection[axis] = 0;
     } // setMoveOfAxisFinished
 
     inline bool isPositiveMoveOfAxis(uint8_t axis)
@@ -412,10 +412,10 @@ class PrintLine
 
     static INLINE void removeCurrentLineForbidInterrupt()
     {
+        HAL::forbidInterrupts();
         nextPlannerIndex(linesPos);
         cur->task = TASK_NO_TASK;
         cur = NULL;
-        HAL::forbidInterrupts();
         --linesCount;
     } // removeCurrentLineForbidInterrupt
 

changelog.txt

@@ -21,6 +21,12 @@ TODO:
 # milling mode: test or rework milling functions
 # pause @RF1000: test if z max-endstop is respected while moving in dual-endstop circular setting
 
+V 01.43.99.Mod (2019-05-26)
+- fixed a bug that sometimes caused the zcompensation to "hang" when the printlines were long.
+  The problem was that the compensation was only able to drive into one direction per move
+  because it did not free Z direction afterwards and blocked itself on direction changes.
+  That produced some weired looking first layers when printing some gcodes.
+
 V 01.43.98.Mod (2019-05-01)
 - At the end of a M3912 startline the speed adjustment is now reset to 100%
   to gain a faster travel to the start point (instead of auto accelerating due to normal digits).